CN112550764A - Asynchronous three-axis attitude control magnetic suspension inertial executing mechanism - Google Patents
Asynchronous three-axis attitude control magnetic suspension inertial executing mechanism Download PDFInfo
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- CN112550764A CN112550764A CN202011347259.5A CN202011347259A CN112550764A CN 112550764 A CN112550764 A CN 112550764A CN 202011347259 A CN202011347259 A CN 202011347259A CN 112550764 A CN112550764 A CN 112550764A
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 65
- 239000000725 suspension Substances 0.000 title claims abstract description 60
- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 238000004804 winding Methods 0.000 claims abstract description 52
- 239000004020 conductor Substances 0.000 claims abstract description 30
- 239000003302 ferromagnetic material Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 238000005339 levitation Methods 0.000 claims 7
- 230000008901 benefit Effects 0.000 abstract description 8
- 230000005672 electromagnetic field Effects 0.000 abstract description 7
- 230000003993 interaction Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
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- 238000005266 casting Methods 0.000 description 1
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- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
Abstract
The invention discloses an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism, which comprises a stator and a rotor, wherein the rotor is positioned in a cavity structure of the stator, and the rotor is not in mechanical contact with the stator during normal work, wherein the stator comprises: the stator frames are mutually connected, and each stator frame encloses a cavity structure of the stator; the stator windings are respectively arranged on the stator frame; a plurality of sensors, each sensor being mounted on the stator frame; the rotor includes: and the rotor conductor plate is arranged in the cavity structure of the stator. Its advantage does: the magnetic suspension inertial execution mechanism realizes the suspension and rotation of the rotor by utilizing the interaction between the three-dimensional space electromagnetic field generated by each stator winding and the rotor conductor plate, and the rotor can rotate around any axis in the three-dimensional space due to no constraint of a bearing structure, so that the magnetic suspension inertial execution mechanism has the capability of outputting three-axis control torque.
Description
Technical Field
The invention relates to the technical field of space aircrafts, in particular to an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism.
Background
The inertia actuating mechanism is one of core devices of a spacecraft attitude control system, benefits from the advantages of no need of working medium consumption, high control moment precision and the like, and is widely used for attitude control of spacecrafts such as satellites and the like.
According to the rotor supporting mode, the inertial executing mechanism can be divided into two main types of mechanical inertial executing mechanism and magnetic suspension inertial executing mechanism. Compared with a mechanical inertia actuating mechanism, the magnetic suspension inertia actuating mechanism enables the rotor of the inertia actuating mechanism to suspend by utilizing a magnetic suspension technology, avoids mechanical contact between the rotor of the inertia actuating mechanism and a fixed part, has the advantages of no friction, no abrasion, high precision, long service life and the like, and has wide application prospect on a high-precision and high-stability spacecraft in the future.
However, the conventional magnetic suspension inertial actuator usually employs a magnetic bearing to suspend the rotor thereof, resulting in the magnetic suspension inertial actuator weighing more than the mechanical inertial actuator, which limits the application of the magnetic suspension inertial actuator.
In order to solve the problem, researchers in the technical field have made some researches, for example, patent CN105775169A discloses a magnetic suspension inertial actuating mechanism named as "a magnetized suspension induction driven reaction momentum sphere", which is composed of a spherical rotor, an arc-shaped stator and the like, and realizes the output of three-axis control torque and three-axis attitude control of a space vehicle through the interaction between coils on the 6 arc-shaped stators and the spherical rotor; however, the magnetized suspension induction driven reaction momentum ball adopts 6 sets of 36 windings in total to drive the rotor of the magnetized suspension induction driven reaction momentum ball, so that the structure of the device is complex, the manufacturing difficulty is increased, and a control system is complex and is not beneficial to the application of the device. Accordingly, there is a need in the art to develop a three-axis attitude control magnetic suspension inertial actuator with simple structure and easy manufacture and control.
Disclosure of Invention
The invention aims to provide an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism, which combines a stator and a rotor, wherein the stator comprises a stator frame, stator windings and a sensor, the rotor comprises a rotor conductor plate, an air gap exists between the rotor and the stator, the suspension and rotation of the rotor are realized by utilizing the interaction between a three-dimensional space electromagnetic field generated by each stator winding and the rotor conductor plate, and the rotor can rotate around any axis in a three-dimensional space due to no constraint of a bearing structure, so that the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism has the capability of outputting three-axis control torque, and meanwhile, the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism has a simple structure and is easy to manufacture, use.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism comprises a stator and a rotor, wherein the rotor is positioned in a cavity structure of the stator, and the rotor is not in mechanical contact with the stator during normal operation,
wherein the stator includes:
the stator frames are mutually connected, and each stator frame encloses a cavity structure of the stator;
the stator windings are respectively arranged on the stator frame;
a plurality of sensors, each of the sensors being mounted on the stator frame;
the rotor includes:
a rotor conductor plate disposed within the cavity structure of the stator.
Optionally, the rotor further comprises:
a rotor frame, the rotor conductor plate being fixed on an outer surface of the rotor frame.
Optionally, the rotor frame is of a hollow structure or a solid structure.
Optionally, the rotor conductor plate is of a hollow structure or a solid structure.
Optionally, the rotor is spherical.
Optionally, the rotor conductor plate is made of a high-conductivity material;
and/or the stator frame is made of ferromagnetic materials or non-ferromagnetic materials.
Optionally, the stator winding is in a circular ring structure, a circular structure, a rectangular ring structure, or a spherical structure.
Optionally, the stator comprises 6 stator frames, and each stator frame jointly forms a rectangular structure or a cubic structure;
and/or, the stator comprises 6 sensors, and each sensor is respectively arranged on the stator frame.
Optionally, the stator includes 6 stator windings, one stator winding is disposed on one stator frame, and each stator winding is symmetrically disposed.
Optionally, the stator includes 24 stator windings, 4 stator windings are fixed on a stator frame, and each stator winding is symmetrically disposed.
Compared with the prior art, the invention has the following advantages:
the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism realizes the suspension and rotation of a rotor by utilizing the interaction between a three-dimensional space electromagnetic field generated by each stator winding and a rotor conductor plate; because no constraint of a bearing structure exists, the rotor can rotate around any axis in a three-dimensional space, and the capacity of outputting three-axis control torque is realized, so that the three-axis attitude control of the spacecraft can be realized by adopting an asynchronous three-axis attitude control magnetic suspension inertia actuating mechanism.
Furthermore, the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism provided by the invention has the advantages that the rotor is suspended in the cavity structure of the stator by utilizing the magnetic suspension technology, and the rotor is not in mechanical contact with the stator; the inertia actuating mechanism can realize asynchronous rotation of three-dimensional space electromagnetic field fundamental waves generated by the stator windings and three-dimensional space magnetic field fundamental waves generated by the rotor permanent magnets of the stator windings.
Furthermore, the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism works based on the principle of an asynchronous motor, and energy stored in a rotor of the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism can be fed back to a power supply through a reasonable control mode, so that the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism has a certain energy storage function.
Furthermore, the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism has the advantages of simple structure, light weight, easiness in manufacturing and controlling, no friction, no abrasion, no need of lubrication and capability of storing energy.
Drawings
FIG. 1 is a schematic diagram of an outer surface of an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism according to the present invention;
FIG. 2 is a front sectional view of the asynchronous three-axis attitude control magnetic suspension inertial actuator of FIG. 1;
FIG. 3 is a bottom view of the asynchronous three-axis attitude control magnetic suspension inertial actuator of FIG. 1;
FIG. 4 is a schematic diagram illustrating relative positions of stator windings in three-dimensional space according to a first embodiment of the present invention;
fig. 5 is a front sectional view of an asynchronous three-axis attitude control magnetic suspension inertial actuator according to a second embodiment of the present invention;
fig. 6 is a front sectional view of an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism according to a third embodiment of the present invention;
fig. 7 is a front sectional view of an asynchronous three-axis attitude control magnetic suspension inertial executing mechanism according to a fourth embodiment of the present invention;
fig. 8 is a schematic diagram of the relative positions of the stator windings in three-dimensional space in the fifth embodiment of the invention;
fig. 9 is a schematic diagram of the relative positions of the circular stator windings in three-dimensional space according to the sixth embodiment of the present invention;
fig. 10 is a schematic diagram of the relative positions of the rectangular ring stator windings in three-dimensional space in the sixth embodiment of the invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
Example one
As shown in fig. 1 to 4, the asynchronous three-axis attitude control magnetic suspension inertial actuator according to the present invention includes a stator 1 and a rotor 2, wherein the rotor 2 is located in a cavity structure of the stator 1, an air gap exists between the rotor 2 and the stator 1, and during normal operation, there is no mechanical contact between the rotor 2 and the stator 1.
Wherein the stator 1 includes: the stator structure comprises a plurality of stator frames 1-1, a plurality of stator windings 1-2 and a plurality of sensors 1-3, wherein the stator frames 1-1 are mutually connected to form a cavity structure 1-4 of the stator 1, the stator frames 1-1 jointly form a cuboid structure or a cube structure, the stator windings 1-2 are respectively arranged on the stator frames 1-1, and the sensors 1-3 are respectively arranged on the stator frames 1-1. The stator frame 1-1 is used for installing the stator windings 1-2 and maintaining the relative position relationship of the stator windings 1-2, and the stator windings 1-2 are generally made of metal wires and are relatively soft.
In the embodiment, the stator 1 includes 6 sensors 1-3, 6 stator windings 1-2 and 6 stator frames 1-1, and the stator frames 1-1 and the stator windings 1-2 at different positions are represented by 1-1-6 and 1-2-6, respectively.
As shown in fig. 2 and 3, in the present embodiment, the stator winding 1-2 has a circular ring structure. One stator winding 1-2 is arranged on one stator frame 1-1, 6 stator windings 1-2 are arranged in the relative positions in space as shown in figure 3, and each stator winding 1-2 is symmetrically arranged on each stator frame 1-1. Optionally, the stator frame 1-1 is made of a ferromagnetic material or a non-ferromagnetic material.
As shown in fig. 4, in the present embodiment, one sensor 1-3 is provided on one stator frame 1-1, and each of the sensors 1-3 is mounted on each stator frame 1-1, and the position thereof is set according to the measurement principle. Of course, the number and positions of the sensors 1-3 are not limited thereto, and the number and mounting positions thereof may be further adjusted according to the measurement principle.
As shown in fig. 2, in the present embodiment, the rotor 2 includes: a rotor frame 2-1 and a rotor conductor plate 2-2, both arranged in the cavity structure 1-4 of the stator 1, the rotor conductor plate 2-2 being fixed to the outer surface of the rotor frame 2-1. Optionally, the rotor conductor plate 2-2 is made of a high-conductivity material, which is beneficial to increase induced current, so that driving force is increased. Of course, the material of the rotor conductor plate 2-2 is not limited to a high conductivity material (such as copper), and may be other general conductive materials capable of performing corresponding functions. The rotor conductor plate 2-2 is fixed on the rotor frame 2-1 by casting and the like, and the rotor frame 2-1 is of a solid structure. The whole outer surface of the rotor 2 is spherical or approximately spherical, so that the dynamic balance of the rotor in high-speed rotation is maintained, and the stability of the whole system is maintained.
In this embodiment, when the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism works, each sensor 1-3 is used for detecting the relative position and attitude between the rotor 2 and the stator 1, then, the relative position and attitude information of the rotor 2 and the stator 1 is sent to the controller, the controller generates a control signal according to a certain control rule through processing the relative position and attitude information and combining a reference instruction, and sends the control signal to the driving circuit, the driving circuit energizes the stator winding 1-2 to generate a moving magnetic field, the moving magnetic field cuts the rotor conductor plate 2-2, an induced current is generated in the rotor conductor plate 2-2, the interaction between the moving magnetic field and the induced current generates an electromagnetic force, and the electromagnetic force drives the rotor 2 to move.
The asynchronous three-axis attitude control magnetic suspension inertial execution mechanism realizes the suspension and rotation of the rotor 2 by utilizing the interaction between a three-dimensional space electromagnetic field generated by each stator winding 1-2 and a rotor conductor plate 2-2; because there is no restriction of bearing structure, its rotor 2 can rotate around arbitrary axle in three-dimensional space, has the ability of output triaxial control moment. Therefore, the three-axis attitude control of the spacecraft can be realized by adopting the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism. During operation, the controller controls the direction and intensity of the three-dimensional electromagnetic field generated by the stator windings 1-2 by controlling the amount of current delivered to each of the electrical windings to control the central axis of movement of the rotor 2.
In addition, during the operation, induced current is generated in the rotor conductor plate 2-2, and based on the principle of an asynchronous motor, the energy stored in the rotor 2, i.e. the rotor conductor plate 2-2, can be controlled by the controller to be fed back to the power supply.
Example two
Based on the structural characteristics of the asynchronous three-axis attitude control magnetic suspension inertial actuator in the first embodiment, the present embodiment makes some changes to the structure of the rotor frame 2-1. As shown in fig. 5, the asynchronous three-axis attitude control magnetic suspension inertial actuator of the present embodiment is provided, in which the rotor frame 2-1 is a hollow structure.
EXAMPLE III
Based on the structural characteristics of the asynchronous three-axis attitude control magnetic suspension inertial actuator in the first embodiment or the second embodiment, the present embodiment makes some changes to the structure of the rotor 2. As shown in fig. 6, in the asynchronous three-axis attitude control magnetic suspension inertial actuator of the present embodiment, the rotor 2 is completely composed of rotor conductor plates 2-2, and the rotor conductor plates 2-2 are solid structures.
Example four
Based on the structural characteristics of the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism in the first embodiment, the present embodiment makes some changes to the structure of the rotor 2. As shown in fig. 7, in the asynchronous three-axis attitude control magnetic suspension inertial actuator of the present embodiment, the rotor 2 is completely composed of rotor conductor plates 2-2, and the rotor conductor plates 2-2 are hollow.
EXAMPLE five
Based on the structural characteristics of the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism in the first embodiment, the present embodiment makes some changes to the structure of the stator 1. As shown in fig. 8, the asynchronous three-axis attitude control magnetic suspension inertial actuator of the present embodiment is an asynchronous three-axis attitude control magnetic suspension inertial actuator, in the present embodiment, the stator winding 1-2 in the stator 1 is rectangular ring-shaped. Of course, the shape of the stator winding 1-2 is not limited thereto, but it may also be a part of a circle or a sphere.
EXAMPLE six
Based on the structural characteristics of the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism in the first embodiment, the present embodiment makes some changes to the structure of the stator 1. As shown in fig. 9 and fig. 10 in combination, in the present embodiment, the number of the stator windings 1-2 in the stator 1 is 24, and the shape of the stator windings 1-2 is a circular ring (see fig. 9) or a rectangular ring (see fig. 10). The position distribution of 24 stator windings 1-2 in the space is shown in fig. 9 and fig. 10, 4 stator windings 1-2 are fixed on a stator frame 1-1, and each stator winding 1-2 is symmetrically arranged.
In summary, according to the asynchronous three-axis attitude control magnetic suspension inertial actuator of the present invention, a stator 1 is combined with a rotor 2, the stator 1 includes a stator frame 1-1, a stator winding 1-2 and a sensor 1-3, the rotor 2 includes a rotor frame 2-1 and a rotor conductor plate 2-2, an air gap exists between the rotor 2 and the stator 1, and the rotor 2 is suspended and rotated by utilizing the interaction between a three-dimensional space electromagnetic field generated by each stator winding 1-2 and the rotor conductor plate 2-2, and because there is no constraint of a bearing structure, the rotor 2 can rotate around any axis in the three-dimensional space, and has a capability of outputting a three-axis control torque. Therefore, the three-axis attitude control of the spacecraft can be realized by adopting the asynchronous three-axis attitude control magnetic suspension inertial executing mechanism.
Furthermore, the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism has the advantages of simple structure, easiness in manufacturing and control, no friction, no abrasion, no need of lubrication and capability of storing energy.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are still within the scope of the technical solution of the present invention.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. An asynchronous three-axis attitude control magnetic suspension inertial execution mechanism is characterized by comprising a stator and a rotor, wherein the rotor is positioned in a cavity structure of the stator, and when the asynchronous three-axis attitude control magnetic suspension inertial execution mechanism works normally, the rotor is not in mechanical contact with the stator,
wherein the stator includes:
the stator frames are mutually connected, and each stator frame encloses a cavity structure of the stator;
the stator windings are respectively arranged on the stator frame;
a plurality of sensors, each of the sensors being mounted on the stator frame;
the rotor includes:
a rotor conductor plate disposed within the cavity structure of the stator.
2. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1, wherein the rotor further comprises:
a rotor frame, the rotor conductor plate being fixed on an outer surface of the rotor frame.
3. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 2,
the rotor frame is of a hollow structure or a solid structure.
4. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1,
the rotor conductor plate is of a hollow structure or a solid structure.
5. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1,
the rotor is spherical.
6. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1,
the rotor conductor plate is made of a high-conductivity material;
and/or the stator frame is made of ferromagnetic materials or non-ferromagnetic materials.
7. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1,
the stator winding is of a circular ring structure, a circular structure, a rectangular ring structure or a spherical structure.
8. The asynchronous three-axis attitude control magnetic levitation inertial actuator of claim 1,
the stator comprises 6 stator frames, and each stator frame jointly forms a cuboid structure or a cube structure;
and/or, the stator comprises 6 sensors, and each sensor is respectively arranged on the stator frame.
9. The asynchronous three-axis attitude control magnetic suspension inertial actuator of claim 1 or 8,
the stator comprises 6 stator windings, one stator winding is arranged on one stator frame, and the stator windings are symmetrically arranged.
10. The asynchronous three-axis attitude control magnetic suspension inertial actuator of claim 1 or 8,
the stator comprises 24 stator windings, 4 stator windings are fixed on a stator frame, and the stator windings are symmetrically arranged.
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| CN202011347259.5A CN112550764A (en) | 2020-11-26 | 2020-11-26 | Asynchronous three-axis attitude control magnetic suspension inertial executing mechanism |
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2020
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